scholarly journals Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot

10.5772/50916 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 21 ◽  
Author(s):  
Zhaohong Xu ◽  
Tiansheng Lü ◽  
Xuyang Wang
Keyword(s):  
Stance Phase ◽  
Gear Ratio ◽  
Redundant Manipulator ◽  
Flight Phase ◽  
Load Matching ◽  
Landing Impact ◽  
Vertical Jumping ◽  
Order Polynomial ◽  
Jumping Robot ◽  
Impact Phase

Human jumping motion includes stance phase, flight phase and landing impact phase. Jumping robot belongs to a variable constraints system because every phase has different constraint conditions. An unified dynamics equation during stance phase and flight phase is established based on floated-basis space. Inertia matching is used to analyze actuator/gear systems and select the optimum gear ratio based on the transmission performance between the torque produced at the actuator and the torque applied to the load. Load matching is an important index which affects jumping performance and reflects the capability of supporting a weight or mass. It also affects the distributing of the center of gravity (COG). Regarding jumping robot as a redundant manipulator with a load at end-effector, inertia matching can be applied to optimize load matching for jumping robot. Inertia matching manipulability and directional manipulability are easy to analyze and optimize the load matching parameters. A 5th order polynomial function is defined to plan COG trajectory of jumping motion, taking into account the constraint conditions of both velocity and acceleration. Finally, the numerical simulation of vertical jumping and experimental results show inertia matching is in direct proportion to jumping height, and inertia matching manipulability is a valid method to load matching optimization and conceptual design of robot.

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

Continuous Maximal Vertical Jumping Until Exhaustion Negatively Affects Landing Impact Severity

2017 ◽  
Vol 49 (5S) ◽  
pp. 1051
Author(s):  
Chad A. Sutherland ◽  
Paul Leuty ◽  
Joel A. Cort ◽  
Jim R. Potvin
Keyword(s):  
Landing Impact ◽  
Vertical Jumping

Study of Orientation Control for a Wheeled Jumping Robot in the Flight Phase of Motion

2019 ◽  
Vol 20 (4) ◽  
pp. 236-243 ◽  
Author(s):  
S. F. Jatsun ◽  
L. Yu. Vorochaeva ◽  
S. I. Savin
Keyword(s):  
Control System ◽  
Piecewise Linear ◽  
The Body ◽  
Linear Functions ◽  
Piecewise Linear Functions ◽  
Supporting Surface ◽  
Flight Phase ◽  
Angular Velocities ◽  
Jumping Robot ◽  
The Moment

The work studies the flight phase (a part of jumping motion) of a jumping robot. The robot consists of the body with wheeled base and a jump booster module installed in the body. The jump booster module allows the robot to accelerate in a given direction up to a predetermined speed, allowing to control the velocity of the robot at the moment when it breaks contact with the supporting surface. The goal of this study is to develop a control system for the robot’s wheels, allowing to use their inertial properties to control the robot orientation at the moment of landing. This is achieved by controlling the wheels’ orientation throughout the duration of the motion. The goal of controlling the orientation of the robot at the moment of landing is to be able to land on all four wheels and avoid tipping over. The paper studies the supporting surfaces (from which the robot jumps and to which the robot lands) described by piecewise linear functions, including a horizontal and slopped linear sub-functions. In this work, four types of supporting surfaces were distinguished, which the distinction based on the slope of the mentioned about sub-function. Another varying parameter is the point where two sub-functions connect. For the purpose of this study a kinematic and dynamic model of the robot were developed, and a control system design was proposed. The proposed control system includes a trajectory planner that allows to plan the robot’s motion resulting in the desired orientation of the robot’s body at the moment of landing. This problem was formulated as an optimization problem. Simulation results showed the dependencies between the three supporting surface parameters (two angles describing linear sub-functions and the point where the sub-functions intersect) and the duration of the robot flight, the achieved velocities of the robot’s wheels and required motor torques. The influence of those parameters on the maximal and minimal values of the wheels’ angular velocities achieved during the flight were demonstrated. This could be used in designing this type of robots, in particular it could help to set specifications for the robot’s wheel motors.

C301 Vertical Jumping Motion Control for the Jumping Robot

2011 ◽  
Vol 2011.12 (0) ◽  
pp. 560-565
Author(s):  
Daichi Kato ◽  
Kazuma Sekiguchi ◽  
Mitsuji Sampei
Keyword(s):  
Motion Control ◽  
Vertical Jumping ◽  
Jumping Robot

scholarly journals Stance Phase Control System of a Jumping Robot

2019 ◽  
Vol 52 (17) ◽  
pp. 111-116
Author(s):  
Mircea Ivanescu
Keyword(s):  
Control System ◽  
Stance Phase ◽  
Phase Control ◽  
Jumping Robot

UPWARD JUMP OF A BIPED

2013 ◽  
Vol 10 (04) ◽  
pp. 1350032 ◽  
Author(s):  
YANNICK AOUSTIN ◽  
ALEXANDER FORMALSKII
Keyword(s):  
Mathematical Model ◽  
Control Algorithm ◽  
Stance Phase ◽  
Flight Phase ◽  
Human Data ◽  
Ankle Joints ◽  
Simulation Results ◽  
Upward Jump ◽  
Stick Diagram

This paper explores the vertical upward jumping of a planar biped. There are two stance phases and one flight phase in the jump. One stance phase takes place before the flight phase, another one after the flight phase. The stance phase before the flight phase is decomposed into several parts: A crouching, a thrust at the knees, a rotation of both feet (massless) around their toes. The second stance phase (after the flight phase) starts with a touchdown of the toes. It consists of a feet rotation, a touchdown of the whole soles and finally of a straightening up movement of the biped. A mathematical model for this kind of jump is developed. Torques are applied at the hip, knee and ankle joints. The control algorithm is designed to ensure the jump of the biped. The synthesis of the jumping process is supported by simulation, which gives consistent results with human data from biomechanical literature. The stick diagram of the jump derived from simulation results seems natural for the human jumping.

scholarly journals Optimal design of gear ratio using non-circular gear for jumping robot

2016 ◽  
Vol 3 (1) ◽  
pp. 14-00511-14-00511
Author(s):  
Masafumi OKADA ◽  
Yushi TAKEDA
Keyword(s):  
Optimal Design ◽  
Gear Ratio ◽  
Jumping Robot

Jumping Mechanism Analysis of the Humanoid Robot

2010 ◽  
Vol 29-32 ◽  
pp. 1562-1566
Author(s):  
Yong Chen
Keyword(s):  
Structural Design ◽  
High Speed ◽  
Stance Phase ◽  
Video Camera ◽  
Mechanism Analysis ◽  
Joint Angles ◽  
High Speed Video Camera ◽  
Standing Long Jump ◽  
Long Jump ◽  
Jumping Robot

The jumping procedure of the human in the standing long jump was captured with a high-speed video camera. The geometrical configurations and motion postures of the human during jumping were analyzed from the high-speed photographs. By biological observation, the human jump was divided into stance phase, flight phase and land phase. The dynamic model of the humanoid jumping robot was established by the technology of virtual prototype. The joint angles of the robot during jumping were analyzed. The results would provide some theoretical and practical references for the biomimetic design to improve the reasonable motion of the humanoid jumping robot. This work may provide the basic theory in developing humanoid jumping robot in structural design. Besides, it provides an important reference to study the other bionic robots.

Master-Slave Teleoperation Method of Redundant Manipulator

2013 ◽  
Vol 694-697 ◽  
pp. 1690-1695
Author(s):  
Yang Chen ◽  
Peng Chen
Keyword(s):  
Inverse Kinematics ◽  
Control Method ◽  
Polynomial Interpolation ◽  
Redundant Manipulator ◽  
Order Polynomial ◽  
Fifth Order ◽  
Discrete Motion

This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polynomial interpolation. Simulations and experiments are taken to prove the effectiveness of the control method in the paper.

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